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        </div><article class="page single"><h1 class="single-title animate__animated animate__flipInX">EtherCAT从会到不会——重要概念（2）</h1><div class="post-meta">
            <div class="post-meta-line"><span class="post-author"><a href="/" title="Author" rel="author" class="author"><i class="fas fa-user-circle fa-fw" aria-hidden="true"></i>Jacob Chen</a></span>&nbsp;<span class="post-category">收录于 <a href="/categories/%E7%8E%B0%E5%9C%BA%E6%80%BB%E7%BA%BF/"><i class="far fa-folder fa-fw" aria-hidden="true"></i>现场总线</a></span></div>
            <div class="post-meta-line"><i class="far fa-calendar-alt fa-fw" aria-hidden="true"></i>&nbsp;<time datetime="2023-08-25">2023-08-25</time>&nbsp;<i class="fas fa-pencil-alt fa-fw" aria-hidden="true"></i>&nbsp;约 1560 字&nbsp;
                <i class="far fa-clock fa-fw" aria-hidden="true"></i>&nbsp;预计阅读 4 分钟&nbsp;</div>
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                <div class="details-content toc-content" id="toc-content-static"><nav id="TableOfContents">
  <ul>
    <li><a href="#esiethercat-slave-information文件">ESI（EtherCAT Slave Information）文件</a></li>
    <li><a href="#通讯模式">通讯模式</a>
      <ul>
        <li><a href="#周期性数据process-data">周期性数据（Process Data）</a></li>
        <li><a href="#非周期性数据mailbox">非周期性数据（Mailbox）</a></li>
      </ul>
    </li>
    <li><a href="#分布式时钟distribute-clock">分布式时钟（Distribute Clock）</a>
      <ul>
        <li><a href="#为什么需要分布式时钟">为什么需要分布式时钟</a></li>
        <li><a href="#实现dc同步">实现DC同步</a>
          <ul>
            <li><a href="#第一步传输延时propagation-delay测量">第一步：传输延时（Propagation delay）测量</a></li>
            <li><a href="#第二步时钟偏移offset补偿">第二步：时钟偏移（offset）补偿</a></li>
            <li><a href="#第三步漂移driff补偿">第三步：漂移（driff）补偿</a></li>
          </ul>
        </li>
        <li><a href="#ethercat同步模式">EtherCAT同步模式</a></li>
        <li><a href="#dc模式运行举例">DC模式运行举例</a></li>
      </ul>
    </li>
    <li><a href="#状态机">状态机</a>
      <ul>
        <li><a href="#状态机动作描述">状态机动作描述</a></li>
      </ul>
    </li>
  </ul>
</nav></div>
            </div><div class="content" id="content"><!-- # EtherCAT从会到不会——重要概念（2） -->
<blockquote>
<p>本来还想着起什么名字，但是对比起内容，名字什么的一点都不重要。<br/>
最近我又想起要写点什么东西防止最后什么都不剩下。那就从EtherCAT开始吧！</p>
</blockquote>
<h2 id="esiethercat-slave-information文件">ESI（EtherCAT Slave Information）文件</h2>
<p>每个EtherCAT从站都有其自己的ESI文件（XML配置文件），该文件说明了从站所提供的功能、属性等数据。主站可以根据档案内部的数据对从站进行初始化设置。</p>
<p><strong>所以EtherCAT主站必须获取从站ESI文件的信息，否则无法对从站进行控制</strong>。</p>
<h2 id="通讯模式">通讯模式</h2>
<h3 id="周期性数据process-data">周期性数据（Process Data）</h3>
<p>由于EtherCAT一般采用COE协议对从站进行周期性数据的交换。所以如不特殊说明，一般讲EtherCAT通讯的周期数据，都是指<strong>PDO</strong>。主站通过与从站交互PDO数据从而实现对从站设备的实时控制。</p>
<h3 id="非周期性数据mailbox">非周期性数据（Mailbox）</h3>
<p>同理，非周期数据一般就指代<strong>SDO</strong>。</p>
<p><img
        class="lazyload"
        src="/svg/loading.min.svg"
        data-src="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-%e5%ae%9e%e7%8e%b0.png"
        data-srcset="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-%e5%ae%9e%e7%8e%b0.png, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-%e5%ae%9e%e7%8e%b0.png 1.5x, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-%e5%ae%9e%e7%8e%b0.png 2x"
        data-sizes="auto"
        alt="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-实现.png"
        title="EtherCAT总线实现" /></p>
<h2 id="分布式时钟distribute-clock">分布式时钟（Distribute Clock）</h2>
<h3 id="为什么需要分布式时钟">为什么需要分布式时钟</h3>
<p>EtherCAT网络为多个设备彼此串接而形成，所有通讯的数据需要一站一站依次通过，这会导致<strong>不同从站收到数据时间点也会不一致</strong>。为了实现各个从站（轴）动作的一致性，所以需要调整各个从站本地时钟（local time）的偏移以达到时间同步。</p>
<p>一般以主站连接到的<strong>第一个拥有DC功能的从站时钟</strong>作为参考时钟（reference clock）。</p>
<h3 id="实现dc同步">实现DC同步</h3>
<p>要实现DC总共分为3步</p>
<h4 id="第一步传输延时propagation-delay测量">第一步：传输延时（Propagation delay）测量</h4>
<ul>
<li>主站发送广播指令给全部从站，从站收到指令时会记录下此时的从站本地时钟（local time）。</li>
<li>主站读取每一个从站的本地时钟，根据拓扑关系计算出各个从站与参考时钟之间传输延迟时间，然后将传输延迟时间写入从站的寄存器（system time delay register）。</li>
</ul>
<h4 id="第二步时钟偏移offset补偿">第二步：时钟偏移（offset）补偿</h4>
<ul>
<li>主站比较从站的本地时钟与参考时钟，就能算出各个从站的相对偏移，然后将偏移值算入从站寄存器（system time offset register），这样就算出了绝对系统时钟（absolute system time）</li>
</ul>
<h4 id="第三步漂移driff补偿">第三步：漂移（driff）补偿</h4>
<ul>
<li>静态漂移补偿：主站通过在传输时延和偏移补偿之后，单独向从站多次（15000次）发送单独的帧来进行校对。</li>
<li>动态漂移补偿：周期性读取参考时钟，与其他从站本地时钟比较进行漂移修正。</li>
</ul>
<p><img
        class="lazyload"
        src="/svg/loading.min.svg"
        data-src="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC%e5%90%8c%e6%ad%a5%e6%b5%81%e7%a8%8b1.png"
        data-srcset="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC%e5%90%8c%e6%ad%a5%e6%b5%81%e7%a8%8b1.png, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC%e5%90%8c%e6%ad%a5%e6%b5%81%e7%a8%8b1.png 1.5x, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC%e5%90%8c%e6%ad%a5%e6%b5%81%e7%a8%8b1.png 2x"
        data-sizes="auto"
        alt="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC同步流程1.png"
        title="DC同步流程" />
<img
        class="lazyload"
        src="/svg/loading.min.svg"
        data-src="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC%e5%90%8c%e6%ad%a5%e6%b5%81%e7%a8%8b2.png"
        data-srcset="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC%e5%90%8c%e6%ad%a5%e6%b5%81%e7%a8%8b2.png, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC%e5%90%8c%e6%ad%a5%e6%b5%81%e7%a8%8b2.png 1.5x, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC%e5%90%8c%e6%ad%a5%e6%b5%81%e7%a8%8b2.png 2x"
        data-sizes="auto"
        alt="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC同步流程2.png"
        title="DC同步流程" /></p>
<h3 id="ethercat同步模式">EtherCAT同步模式</h3>
<ul>
<li>Free Run Mode（主站与从站之间不同步）</li>
<li>SyncManager Mode（从站收到 Sync Event 后产生中断）</li>
<li><strong>DC Mode</strong>（周期性产生Sync0信号去中断）</li>
</ul>
<p><img
        class="lazyload"
        src="/svg/loading.min.svg"
        data-src="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-%e5%90%8c%e6%ad%a5%e6%a8%a1%e5%bc%8f.png"
        data-srcset="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-%e5%90%8c%e6%ad%a5%e6%a8%a1%e5%bc%8f.png, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-%e5%90%8c%e6%ad%a5%e6%a8%a1%e5%bc%8f.png 1.5x, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-%e5%90%8c%e6%ad%a5%e6%a8%a1%e5%bc%8f.png 2x"
        data-sizes="auto"
        alt="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-同步模式.png"
        title="EtherCAT同步模式" /></p>
<h3 id="dc模式运行举例">DC模式运行举例</h3>
<p>各个从站由于接线的顺序获取到数据的时间是不一致的，但是触发动作的 Sync0 中断信号是同时的。</p>
<p><img
        class="lazyload"
        src="/svg/loading.min.svg"
        data-src="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC%e4%be%8b%e5%ad%90.png"
        data-srcset="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC%e4%be%8b%e5%ad%90.png, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC%e4%be%8b%e5%ad%90.png 1.5x, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC%e4%be%8b%e5%ad%90.png 2x"
        data-sizes="auto"
        alt="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC例子.png"
        title="DC时钟例子" /></p>
<h2 id="状态机">状态机</h2>
<p><img
        class="lazyload"
        src="/svg/loading.min.svg"
        data-src="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-%e7%8a%b6%e6%80%81%e6%9c%ba.png"
        data-srcset="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-%e7%8a%b6%e6%80%81%e6%9c%ba.png, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-%e7%8a%b6%e6%80%81%e6%9c%ba.png 1.5x, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-%e7%8a%b6%e6%80%81%e6%9c%ba.png 2x"
        data-sizes="auto"
        alt="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-状态机.png"
        title="EtherCAT状态机" /></p>
<p>如上是EtherCAT总线运行的状态机。
一个从站的运行必须依次经历这四种状态，即<strong>Init（初始化） -&gt; Pre-Operational（预运行） -&gt; Safe-Operational（安全运行） -&gt; Opreational（运行）</strong></p>
<p>当从站设备处于Opreational（运行）状态时，EtherCAT主站才可以对从站进行周期性数据的交互。</p>
<h3 id="状态机动作描述">状态机动作描述</h3>
<table>
<thead>
<tr>
<th>状态\切换</th>
<th>描述</th>
</tr>
</thead>
<tbody>
<tr>
<td>Init（初始化）</td>
<td>1. AL无通讯 <br/>2. 主站初始化ESC寄存器</td>
</tr>
<tr>
<td>Init to Pre-Op（IP）</td>
<td>1. 主站配置DL地址寄存器<br/>2. 主站配置 Mailbox 通道参数<br/>3. 主站初始化 Distribute Clock 同步<br/>4. 主站设置AL Control register请求跳转至Pre-Op状态</td>
</tr>
<tr>
<td>Pre-Operational（预运行）</td>
<td>1. AL Mailbox 通讯启动</td>
</tr>
<tr>
<td>Pre-Op to Safe-Op（PS）</td>
<td>1. 主站使用 Mailbox 初始化 Process Data Mapping<br/>2. 主站配置 Process Data 通讯的 SyncManager 通道<br/>3. 主站配置 FMMU<br/>4. 主站设置AL Control register请求跳转至Safe-Op状态</td>
</tr>
<tr>
<td>Safe-Operational（安全运行）</td>
<td>1. AL Mailbox 通讯进行<br/>2. Process Data只允许写入，不产生输出信号</td>
</tr>
<tr>
<td>Safe-Op to Op（SO）</td>
<td>1. 主站发送有效输出数据<br/>2. 主站设置AL Control register请求跳转至Op状态</td>
</tr>
<tr>
<td>Operational</td>
<td>1. Process Data、Mailbox通讯全部有效</td>
</tr>
</tbody>
</table>
<p>参考资料：
ET1100datasheet</p>
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